CN108983799A - A kind of spacecraft meeting Fast circumnavigation requirement is diversion observation method - Google Patents
A kind of spacecraft meeting Fast circumnavigation requirement is diversion observation method Download PDFInfo
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- CN108983799A CN108983799A CN201810816715.2A CN201810816715A CN108983799A CN 108983799 A CN108983799 A CN 108983799A CN 201810816715 A CN201810816715 A CN 201810816715A CN 108983799 A CN108983799 A CN 108983799A
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- diversion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The embodiment of the present invention provides a kind of spacecraft for meeting Fast circumnavigation requirement and is diversion observation method, comprising: N number of observation point is chosen in number and the position for determining theory observation point；The spacecraft that is diversion, which is controlled, using two pulse control modes based on C-W equation is successively transferred to each observation point；Whether the ontology angular speed for determining spacecraft when taking things philosophically measuring point is decreased to observe the threshold value of camera blur-free imaging, relative position is carried out if the not up to threshold value, control and posture is kept to be directed toward control.The present invention passes through high stability control, the contradiction during non-viewing by way of fast transfer, between effective solution demand and task rapidity demand of being diversion of the camera to high stability during observation.
Description
Technical field
It is diversion observation the present invention relates to spacecraft.More particularly, to a kind of spacecraft for meeting Fast circumnavigation requirement around
Fly observation method.
Background technique
Fast circumnavigation has important application in spacecraft closely observation, in-orbit service and case of emergency processing activity.
There are the quick controlled feasibility being diversion of document analysis and main process, the research of multiple-pulse control method is used based on C-W equation
Coplanar/antarafacial Fast circumnavigation, into be diversion and the exit Trajectory Design being diversion and guidance model.There is document for observation of being diversion
The specific requirements of task, a variety of tracks of being diversion such as design " water droplet " shape, circle, " stadium of track and field " shape, and it is based on sliding moding structure control
System is theoretical, solves the 6-DOF coupling thrust control problem of observation mission.There is documents multiple-pulse to be diversion in control, arteries and veins
The optimization problem of punching point number and position of action point.There is document to have studied Impulse maneuver in terms of relative motion and absolute movement two
In space intersection and the design method in being diversion, different branch modes are devised.
But existing literature is all be diversion Trajectory Design and the controlling party of being diversion of research being continuously diversion in observation process
Method, designed Fast circumnavigation track and corresponding control method the spacecraft ontology that certainly will require to be diversion have higher angular speed
It can guarantee and track passive space vehicle always during being diversion.For taking the spacecraft that is diversion of strapdown mounting means, during being diversion compared with
Big angular speed is unable to satisfy demand of the observation camera to high stability.
Summary of the invention
Demand of the observation camera to high stability is unable to satisfy in order to solve biggish angular speed during the prior art is diversion
The problem of, the embodiment of the present invention provides a kind of spacecraft for meeting Fast circumnavigation requirement and is diversion observation method, comprising:
Number and the position for determining theory observation point, choose N number of observation point；
The spacecraft that is diversion, which is controlled, using two pulse control modes based on C-W equation is successively transferred to each observation point；
Whether the ontology angular speed for determining spacecraft when taking things philosophically measuring point is decreased to observe the threshold value of camera blur-free imaging, if
Not up to the threshold value then carries out relative position and keeps control and posture direction control.
Preferably, the theoretical observation point position is respectively as follows:
Wherein, ρexp(k) it is diversion track for theory, T is to be diversion the period, vexpIt (k) is speed of being diversion.
Preferably, two pulse control modes of the use based on C-W equation control the spacecraft that is diversion and are successively transferred to often
A observation point includes:
If being currently at n-th of observation point, complete to observe and prepare at the time of transfer to be t0, calculate the opposite position of spacecraft
Speed is [ρ (t0),v(t0)], it is next theory observation point at opposite position speed beUnder
Stating can calculate in t0The speed increment Δ V (t that moment need to provide0) andThe speed increment that moment need to provide
Wherein,
Wherein, n is the mean angular velocity of satellite motion of passive space vehicle, τ=T/N.
Preferably, the progress relative position, which keeps controlling, includes:
Using the relative position at the spacecraft current time as starting point, relative position is carried out using PD control method and keeps control
System,
Wherein, the relative position of spacecraft is ρ0, the orbits controlling power of spacecraft specific formula is as follows:
F (t)=kp·[ρ0-ρ(t)]-kd·v(t)
ρ (t), v (t) are the relative position of the t moment of spacecraft, speed, kp、kdFor PD control parameter, F (t) indicates track
Control force.
Preferably, the posture, which is directed toward to control, includes:
Target bearing information can be obtained according to observation camera, the azimuth information includes angle of site Δ qεWith azimuth Δ
qβ；
Computations quaternary number, its calculation formula isWherein, qibFor equator inertial coodinate system to around
Fly the current pose of spacecraft this system, qseekerTo be directed toward the target instruction posture to be adjusted, expression are as follows:
According to satellite current pose and instruction posture, error quaternion is obtained, its calculation formula is:
Gesture stability is realized using PID approach, instruction torque calculation formula is as follows:
Tc=k 'p·(qe+0.1Iqe)-k′d·ωb
Wherein, qe、IqeFor error quaternion qeVector section and its integral, ωbFor the ontology angle speed for the spacecraft that is diversion
Degree, is obtained, k ' by gyro to measurep、k′dFor pid control parameter.
Beneficial effects of the present invention are as follows:
The present invention provides a kind of spacecraft for meeting Fast circumnavigation requirement and is diversion observation method, by high steady during observation
The mode of fast transfer during fixed degree control, non-viewing, effective solution demand of the camera to high stability and task of being diversion
Contradiction between rapidity demand.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
Fig. 1 shows the track emulation schematic diagram that is diversion in the embodiment of the present invention.
Fig. 2 shows the observation monument bit emulator schematic diagrames that is diversion in the embodiment of the present invention.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
Between existing spacecraft in Fast circumnavigation and the document for being diversion observation, research object is process of being continuously diversion,
Fail to combine observation mission actual demand.The promotion of development and observation requirements in practice as observation camera technique level, phase
The pixel of machine significantly improves, when camera takes strapdown mounting means, just require be diversion spacecraft must provide high stability with
Guarantee the observation effect of camera.But in Fast circumnavigation task, spacecraft must keep higher angular speed just and can guarantee around
Target is tracked always during flying, this requires to contradict with the high stability of observation camera.Using the method in existing literature without
Method solves this contradictory problems.
For this contradiction, the present invention devises a kind of spacecraft for meeting Fast circumnavigation requirement and is diversion observation method, leads to
Cross the mode of fast transfer during the control of during observation high stability, non-viewing, effective solution camera is to high stability
Demand and task rapidity demand of being diversion between contradiction.
Specifically, including:
S1: number and the position of theory observation point are determined, N number of observation point is chosen.
For example, in a specific embodiment, size is 2m × 2m, distance of being diversion is 100m, and viewing field of camera is 6 ° × 6 °,
4 observation points are then at least taken to ensure that the observation without omitting completed to target in one week of being diversion).
If theory is diversion, track is ρexp(k), period of being diversion is T, and the derivation speed that can must be diversion is
When choosing N number of observation point, then theoretical observation point position is respectively as follows:
S2: the spacecraft that is diversion is controlled using two pulse control modes based on C-W equation and is successively transferred to each observation point.
If being currently at n-th of observation point, complete to observe and prepare at the time of transfer to be t0, can by Relative Navigation calculating
The opposite position speed obtained at this time is [ρ (t0),v(t0)], it is next theory observation point at opposite position speed beIt can then be calculated by equation (1) in t0The speed increment Δ V (t that moment need to provide0) andThe speed increment that moment need to provide
Wherein,
Wherein, n is the mean angular velocity of satellite motion of passive space vehicle, τ=T/N.
It is noted that the Δ V (t obtained by equation (1)0) andIt is to indicate in relative motion coordinate system (X
Axis is directed toward target by the earth's core, and Y-axis is directed toward target direction of motion, and Z axis is consistent with orbit angular velocity direction perpendicular to orbit plane)
In, it must convert to being diversion under spacecraft this system, re-form thruster power-on instruction.
S3: whether the ontology angular speed for determining spacecraft when taking things philosophically measuring point is decreased to observe the threshold of camera blur-free imaging
Value carries out relative position if the not up to threshold value and control and posture is kept to be directed toward control.
After n-th of observation point completes observation, it is switched on by thruster and Δ V (t is provided0) shifted to (n+1)th observation point.
It arrivesMoment, thruster booting provide speed incrementAt the same time, judge whether ontology angular speed subtracts
As low as within the threshold value of camera blur-free imaging, once just start to be observed into threshold value, after the continuous observation stipulated time, just
The above method can be used and be transferred to next observation point.
If being switched on by thruster completes speed incrementAfterwards, it is clear that camera has not yet been reached in ontology angular speed
The requirement of imaging carries out relative position using PD control method and keeps control then using the relative position at current time as starting point.Note
The relative position of record at this time is ρ0, then rail control power specific formula is as follows:
F (t)=kp·[ρ0-ρ(t)]-kd·v(t) (2)
Wherein, ρ (t), v (t) are as real-time relative position, speed, kp、kdFor PD control parameter.
F (t) is still the amount indicated in relative motion coordinate system, must convert to body coordinate system, re-form thruster
Power-on instruction.
The posture that equator inertial coodinate system to the spacecraft this system that is diversion is described in a manner of quaternary number, is denoted as qib.According to sight
Target bearing information, i.e. angle of site Δ q can be obtained by surveying cameraεWith azimuth Δ qβ, by adjusting the pitching and yaw of spacecraft
Posture is directed toward target, and roll angle control is zero.
Instruction quaternary number is calculated as follows:
Wherein, qseekerTo be directed toward the target posture to be adjusted, expression are as follows:
According to satellite current pose and instruction posture, error quaternion can be obtained are as follows:
Gesture stability is realized using PID approach, instruction torque calculation formula is as follows:
Tc=k 'p·(qe+0.1Iqe)-k′d·ωb (6)
Wherein, qe、IqeFor error quaternion qeVector section and its integral, ωbFor the ontology angle speed for the spacecraft that is diversion
Degree, is obtained, k ' by gyro to measurep、k′dFor pid control parameter.
The present invention provides a kind of spacecraft for meeting Fast circumnavigation requirement and is diversion observation method, by high steady during observation
The mode of fast transfer during fixed degree control, non-viewing, effective solution demand of the camera to high stability and task of being diversion
Contradiction between rapidity demand.
In a specific embodiment, if certain is diversion observation mission be spacecraft with target at a distance of 100m position mark by
Desired trajectory is diversion, and the lap time that is diversion is no more than 300s, and imager visual field is 6 ° × 6 °, is not more than in ontology angular speed
When 0.3 °/s can blur-free imaging, target sizes be 2m × 2m.
Using method provided by the invention, 4 observation points are chosen, required when shifting mention of being diversion by period 200s resolving of being diversion
The speed increment of confession.Simulation result is as shown in Figure 1 and Figure 2.It completes one and encloses total duration needed for observation mission of being diversion to be 245s,
Each observation point can meet 0.3 °/s continuous observation task below.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to this hair
The obvious changes or variations that bright technical solution is extended out are still in the scope of protection of the present invention.
Claims (5)
- The observation method 1. a kind of spacecraft for meeting Fast circumnavigation requirement is diversion characterized by comprisingNumber and the position for determining theory observation point, choose N number of observation point；The spacecraft that is diversion, which is controlled, using two pulse control modes based on C-W equation is successively transferred to each observation point；Whether the ontology angular speed for determining spacecraft when taking things philosophically measuring point is decreased to observe the threshold value of camera blur-free imaging, if not reaching Relative position is then carried out to the threshold value keeps control and posture to be directed toward control.
- 2. method according to claim 1, which is characterized in that theory observation point position differenceAre as follows:Wherein, ρexp(k) it is diversion track for theory, T is to be diversion the period, vexpIt (k) is speed of being diversion.
- 3. method according to claim 1, which is characterized in that described to use the two pulse control mode controls based on C-W equation The system spacecraft that is diversion successively is transferred to each observation point and includes:If being currently at n-th of observation point, complete to observe and prepare at the time of transfer to be t0, the opposite position speed for calculating spacecraft is [ρ(t0),v(t0)], it is next theory observation point at opposite position speed beBy it is following can It calculates in t0The speed increment Δ V (t that moment need to provide0) andThe speed increment that moment need to provideWherein,Wherein, n is the mean angular velocity of satellite motion of passive space vehicle, τ=T/N.
- 4. method according to claim 1, which is characterized in that the progress relative position, which keeps controlling, includes:Using the relative position at the spacecraft current time as starting point, relative position is carried out using PD control method and keeps control,Wherein, the relative position of spacecraft is ρ0, the orbits controlling power of spacecraft specific formula is as follows:F (t)=kp·[ρ0-ρ(t)]-kd·v(t)ρ (t), v (t) are the relative position of the t moment of spacecraft, speed, kp、kdFor PD control parameter, F (t) indicates orbits controlling Power.
- 5. method according to claim 1, which is characterized in that the posture is directed toward control and includes:Target bearing information can be obtained according to observation camera, the azimuth information includes angle of site Δ qεWith azimuth Δ qβ；Computations quaternary number, its calculation formula isWherein, qibFor equator inertial coodinate system to space flight of being diversion The current pose of device this system, qseekerTo be directed toward the target instruction posture to be adjusted, expression are as follows:According to satellite current pose and instruction posture, error quaternion is obtained, its calculation formula is:Gesture stability is realized using PID approach, instruction torque calculation formula is as follows:Tc=k 'p·(qe+0.1Iqe)-k′d·ωbWherein, qe、IqeFor error quaternion qeVector section and its integral, ωbFor the ontology angular speed for the spacecraft that is diversion, lead to It crosses gyro to measure to obtain, k 'p、k′dFor pid control parameter.
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